diff --git a/sw/airborne/math/pprz_geodetic_double.h b/sw/airborne/math/pprz_geodetic_double.h
index 5f415e8f2e7..dde6c7b8d77 100644
--- a/sw/airborne/math/pprz_geodetic_double.h
+++ b/sw/airborne/math/pprz_geodetic_double.h
@@ -93,7 +93,7 @@ struct UtmCoor_d {
 struct LtpDef_d {
   struct EcefCoor_d  ecef; ///< origin of local frame in ECEF
   struct LlaCoor_d   lla; ///< origin of local frame in LLA
-  struct DoubleMat33 ltp_of_ecef; ///< rotation from ECEF to local frame
+  struct DoubleRMat ltp_of_ecef; ///< rotation from ECEF to local frame
   double hmsl; ///< height in meters above mean sea level
 };
 
diff --git a/sw/airborne/math/pprz_geodetic_float.c b/sw/airborne/math/pprz_geodetic_float.c
index 9c08e610000..296f953ff00 100644
--- a/sw/airborne/math/pprz_geodetic_float.c
+++ b/sw/airborne/math/pprz_geodetic_float.c
@@ -119,7 +119,7 @@ void ned_of_lla_point_f(struct NedCoor_f* ned, struct LtpDef_f* def, struct LlaC
  */
 void ecef_of_enu_point_f(struct EcefCoor_f* ecef, struct LtpDef_f* def, struct EnuCoor_f* enu) {
   /* convert used floats to double */
-  struct DoubleMat33 ltp_of_ecef_d;
+  struct DoubleRMat ltp_of_ecef_d;
   ltp_of_ecef_d.m[0] = (double) def->ltp_of_ecef.m[0];
   ltp_of_ecef_d.m[1] = (double) def->ltp_of_ecef.m[1];
   ltp_of_ecef_d.m[2] = (double) def->ltp_of_ecef.m[2];
@@ -152,7 +152,7 @@ void ecef_of_ned_point_f(struct EcefCoor_f* ecef, struct LtpDef_f* def, struct N
 
 void ecef_of_enu_vect_f(struct EcefCoor_f* ecef, struct LtpDef_f* def, struct EnuCoor_f* enu) {
   /* convert used floats to double */
-  struct DoubleMat33 ltp_of_ecef_d;
+  struct DoubleRMat ltp_of_ecef_d;
   ltp_of_ecef_d.m[0] = (double) def->ltp_of_ecef.m[0];
   ltp_of_ecef_d.m[1] = (double) def->ltp_of_ecef.m[1];
   ltp_of_ecef_d.m[2] = (double) def->ltp_of_ecef.m[2];
diff --git a/sw/airborne/math/pprz_geodetic_float.h b/sw/airborne/math/pprz_geodetic_float.h
index d4902b89e4e..2f74221f245 100644
--- a/sw/airborne/math/pprz_geodetic_float.h
+++ b/sw/airborne/math/pprz_geodetic_float.h
@@ -93,7 +93,7 @@ struct UtmCoor_f {
 struct LtpDef_f {
   struct EcefCoor_f ecef; ///< origin of local frame in ECEF
   struct LlaCoor_f  lla; ///< origin of local frame in LLA
-  struct FloatMat33 ltp_of_ecef; ///< rotation from ECEF to local frame
+  struct FloatRMat ltp_of_ecef; ///< rotation from ECEF to local frame
   float hmsl; ///< Height above mean sea level in meters
 };
 
diff --git a/sw/airborne/math/pprz_geodetic_int.c b/sw/airborne/math/pprz_geodetic_int.c
index de811e81c7c..9d7c5b59e68 100644
--- a/sw/airborne/math/pprz_geodetic_int.c
+++ b/sw/airborne/math/pprz_geodetic_int.c
@@ -31,7 +31,7 @@
 #include "pprz_algebra_int.h"
 
 
-void ltp_of_ecef_rmat_from_lla_i(struct Int32Mat33* ltp_of_ecef, struct LlaCoor_i* lla) {
+void ltp_of_ecef_rmat_from_lla_i(struct Int32RMat* ltp_of_ecef, struct LlaCoor_i* lla) {
 
 #if USE_DOUBLE_PRECISION_TRIG
   int32_t sin_lat = rint(BFP_OF_REAL(sin(RAD_OF_EM7DEG((double)lla->lat)), HIGH_RES_TRIG_FRAC));
diff --git a/sw/airborne/math/pprz_geodetic_int.h b/sw/airborne/math/pprz_geodetic_int.h
index a714f0a7fe0..b35bfb576c7 100644
--- a/sw/airborne/math/pprz_geodetic_int.h
+++ b/sw/airborne/math/pprz_geodetic_int.h
@@ -95,11 +95,11 @@ struct UtmCoor_i {
 struct LtpDef_i {
   struct EcefCoor_i ecef;        ///< Reference point in ecef
   struct LlaCoor_i  lla;         ///< Reference point in lla
-  struct Int32Mat33 ltp_of_ecef; ///< Rotation matrix
+  struct Int32RMat ltp_of_ecef; ///< Rotation matrix
   int32_t hmsl;                  ///< Height above mean sea level in mm
 };
 
-extern void ltp_of_ecef_rmat_from_lla_i(struct Int32Mat33* ltp_of_ecef, struct LlaCoor_i* lla);
+extern void ltp_of_ecef_rmat_from_lla_i(struct Int32RMat* ltp_of_ecef, struct LlaCoor_i* lla);
 extern void ltp_def_from_ecef_i(struct LtpDef_i* def, struct EcefCoor_i* ecef);
 extern void ltp_def_from_lla_i(struct LtpDef_i* def, struct LlaCoor_i* lla);
 extern void lla_of_ecef_i(struct LlaCoor_i* out, struct EcefCoor_i* in);